In the digital posture adjustment and positioning system, the aircraft fuselage can adjust its posture through the control docking algorithm, the redundancy control algorithm can improve the docking accuracy. However, too many redundant controls in the parallel position adjustment system will lead to the reduction of the docking efficiency. In order to improve the docking accuracy of the middle fuselage, ensure the docking efficiency and reduce the deformation of the supporting base plate, a fuselage redundant control docking algorithm based on the dynamic programming of position adjustment time is proposed. According to the initial position of the fuselage and the requirements of the accuracy of the fuselage docking, the target position of the fuse-lage is calculated, with attitude adjustment quantity and attitude adjustment speed as constraints, the attitude adjustment time is calculated and the attitude adjustment trajectory is planned. On this basis, the redundant control position adjustment algorithm of the positioner is inverse solved, by controlling the coordinated movement of the positioner to realize the position adjustment and docking of the middle fuselage. The experimental results show that the redundant control docking based on the dynamic pro-gramming of position adjustment time has no deformation of the support plate in the process of aircraft fuselage position adjust-ment and positioning, the docking accuracy is relatively high while the time of attitude adjustment is reduced, meeting the re-quirements of the coaxiality of fuselage docking.